README - equ_gia

This README describes basic information on Gravito-inertial Acceleration (GIA) stability polyhedron code for MATLAB.

What is this repository for?

• This is the repository for development and version control of a equilibrium check for climbing robots based on the GIA stability polyhedron: a method being developed by the Space Robotics Laboratory at Tohoku University.

How do I get set up?

• Download the files from this repository
• Check the documentation in the \doc directory. There you can find more detailed information about the use of functions and examples.
• Open MATLAB (the code was developed in MATLAB 2019a. It might not run properly in older versions)
• Add the folder equ_gia to your workspace.
• Run the file \eg\test_example_robot.m and and check if you can see the result image.
  • This example requires the SpaceDyn toolbox (already included in the \lib folder).
• If you want to test your own parameters, include the function equ_gia_polyhedron_calc() in your code, or use your parameters as input for this function.
  • Type help equ_gia_polyhedron_calc in the MATLAB Command Window for more details.

NOTICE

• This is a free software. You can download and use it freely for your academic purpose.
• There is no warranty for any damages caused by this software.
• If you want to use and/or cite this software, please refer to the following proceedings paper:

Warley F. R. Ribeiro, Kentaro Uno, Kenji Nagaoka, and Kazuya Yoshida, "Dynamic Equilibrium of Climbing Robots Based on Stability Polyhedron for Gravito-Inertial Acceleration", The 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Moscow, Russia, 2020 (accepted).

Who do I talk to?

Have any problem, question or suggestion? Please contact us!

• Repository admin: Warley Ribeiro (warley at dc.tohoku.ac.jp)